RobMoSys (robmosys.eu) is a European project as well a a community effort to realise a European ecosystem for open and sustainable industry-grade software development for robotics. It's based on modeling robotic systems in a composable way. A system is an assembly of components communicating via services. The model approach distinguishes several roles, notably robotics experts that standardize provided or required service definitions, and the developers of concrete components.
ROS2 is the evolution of ROS (Robotic operating system), an open-source robotic middleware gaining more and more adoption in the robotics world. ROS2 has been designed from the beginning to support timeliness and reliability via QoS properties, based on the DDS transport protocol. ROS2 describes components that interact with their environment through messages (publish/subscribe), services (client/server calls) and actions.
Papyrus for robotics is a RobMoSys compliant customization of the Eclipse based UML modeler Papyrus. We´ll show that the RobMoSys concepts can be mapped on ROS2 and demonstrate the generation of ROS2 code from a RobMoSys model as well as the execution using the Robotic simulator Gazebo.
No specific RobMoSys or ROS knowledge is required (but of course a plus). The take-away is to get some ideas how robotic systems can be modeled and how this approach facilitates the creation on running systems with ROS.
